Method and system for intelligent concentration tracking mining of a water mining vessel

Abstract

The present application relates to a kind of water mining ship intelligent concentration tracking mining method and system, comprising, initial setting step (101), set the initial speed of water mining ship, the initial depth of cutting head, the concentration minimum value and concentration maximum value of ore pulp, wherein, concentration minimum value < concentration maximum value;Detection step (102), detects the concentration real-time value of ore pulp;Concentration comparison step (108), compare concentration real-time value with concentration maximum value, concentration minimum value;Water mining ship control step: when concentration real-time value is between concentration maximum value and concentration minimum value, increase the travel speed of water mining ship, when concentration real-time value is less than concentration minimum value, lower cutting head or increase the travel speed of water mining ship, when concentration real-time value is greater than concentration maximum value, reduce the travel speed of water mining ship, so that water mining ship is collected in the set ore pulp concentration interval carnallite.The present application can reduce equipment downtime, reduce labor intensity, improve the reliability of automatic mining, improve ore pulp quality.

Description

Technical Field

[0001] This invention relates to a method for intelligent concentration tracking mining using a water-based mining vessel, and more particularly to a technology for harvesting and transporting carnallite slurry from salt fields using a water-based mining vessel. Background Technology

[0002] A water-based mining vessel is a mining device used to collect and transport carnallite slurry from salt pans. It mainly consists of a traveling mechanism, a collecting mechanism, and a conveying mechanism. The traveling mechanism moves through the salt pan along a working channel. During this movement, the collecting mechanism's cutting head crushes and collects the carnallite from the bottom of the salt pan, mixing it with the brine to form a slurry. The conveying mechanism then uses primary pumps and booster pumps to transport the slurry to the processing system. The processing system has specific requirements for the slurry concentration; therefore, the water-based mining vessel needs to control the slurry concentration according to these requirements during the mining process.

[0003] To control slurry concentration, existing technologies employ linear PID setpoint control. Specifically, a target concentration is determined based on production needs, and a concentration metering device is installed at the slurry inlet of the water-cooled pumping vessel. A linear PID setpoint control algorithm is then used to regulate the slurry concentration. However, this type of PID setpoint control is linear and is only suitable for mining carnallite layers with relatively uniform thickness.

[0004] The movement speed of the water-cooled pumping vessel is correlated with the slurry concentration. The slurry concentration is regulated by adjusting the vessel's speed (while maintaining the initial depth of the cutting head). However, using linear PID control to adjust the slurry concentration can lead to malfunctions. For example, when the collected slurry concentration is too low, the vessel's speed is increased to raise the concentration; conversely, when the concentration is too high, the speed is decreased. The speed adjustment coefficient varies depending on the ore thickness. Significant variations in ore thickness necessitate parameter tuning, which becomes extremely frequent and impossible for ordinary operators to perform. This lack of timely parameter tuning results in poor system stability and robustness.

[0005] Because this linear PID setpoint control is linear, when the water-drilling vessel is located in a carnallite layer with uneven thickness, such as Figure 1As shown, when the water-cooled slurry is in region A, where the carnallite layer is relatively thin, even if the slurry's speed is increased to its maximum, the slurry concentration may be too thin to be adjusted to the set value. Conversely, if the slurry concentration is too high and the slurry is in region B, where the carnallite layer is thick, and the cutting head depth is not adjusted, even if the slurry's speed is reduced, the concentration may still be too high to be adjusted to the set value. This prevents the linear PID setpoint control parameters from reaching a steady state, leading to frequent operation of the slurry's control mechanism and, in severe cases, equipment burnout. Furthermore, excessively high slurry concentrations can easily clog the primary pump, a problem that cannot be solved using this linear PID setpoint control method.

[0006] The purpose of this invention is to provide a method and system for intelligent concentration tracking mining using a water-based mining vessel, which is unaffected by the uneven thickness of the carnallite layer in the salt field and can maintain the concentration of the harvested slurry within the required range. Summary of the Invention

[0007] To address the aforementioned problems, this invention provides an intelligent concentration tracking mining method using a water-based mining vessel. The method includes: an initial setup step 101, setting the initial speed of the water-based mining vessel, the initial depth of the cutting head, and the minimum and maximum concentration values ​​of the slurry, wherein the minimum concentration value is less than the maximum concentration value. Mining steps: moving the water-based mining vessel across the salt lake, using the cutting head to crush and collect carnallite, and collecting the slurry containing carnallite. A detection step 102, detecting the real-time concentration value of the slurry. A concentration comparison step 108, comparing the real-time concentration value with the maximum and minimum concentration values.

[0008] Water-collecting vessel control steps: When the real-time concentration value is between the highest and lowest concentration values, increase the water-collecting vessel's travel speed to bring the real-time concentration value closer to the highest concentration value. When the real-time concentration value is lower than the lowest concentration value, lower the cutting head or increase the water-collecting vessel's travel speed to raise the real-time concentration value to within the set concentration range. When the real-time concentration value is higher than the highest concentration value, decrease the water-collecting vessel's travel speed to lower the real-time concentration value to within the set concentration range, so that the concentration of the slurry collected by the water-collecting vessel is maintained within the concentration range close to the highest concentration value.

[0009] In this invention, the real-time concentration of the slurry is adjusted as follows: when the concentration is between the highest and lowest values, the slurry concentration is increased by increasing the speed of the water-based mining vessel, thereby accelerating the crushing and collection of carnallite per unit time and increasing the slurry concentration. When the concentration is below the lowest value, the slurry concentration is increased by lowering the cutting head or increasing the speed of the water-based mining vessel, or by simultaneously lowering the cutting head and increasing the speed of the water-based mining vessel. When the concentration is above the highest value, the slurry concentration is decreased by reducing the speed of the water-based mining vessel, thereby reducing the crushing and collection of carnallite per unit time and decreasing the slurry concentration. Even when the water-based mining vessel is harvesting from a carnallite layer with uneven thickness, the slurry concentration can be quickly maintained within the required range by adjusting the speed of the water-based mining vessel and the depth of the cutting head's entry into the water. This solves the problems of existing water-based mining vessel control methods, which cannot extract the required slurry concentration under conditions of uneven carnallite layer thickness and are prone to damage to the water-based mining vessel mechanism.

[0010] Preferably, the initial setting step 101 further includes setting a critical concentration value for the slurry, wherein the minimum concentration value < the maximum concentration value < the critical concentration value. The critical concentration comparison step (103) further includes comparing the real-time concentration value with the critical concentration value. When the real-time concentration value is greater than or equal to the critical concentration value, in the water extraction vessel control step, the travel speed of the water extraction vessel is reduced to zero to maintain the current depth of the cutting head.

[0011] When the real-time concentration value is greater than the maximum concentration value, the slurry concentration is too high and may cause pump blockage. It is necessary to reduce the slurry concentration immediately. By reducing the speed of the water-dredging vessel to zero, the amount of carnallite crushed and collected per unit time can be reduced, thereby lowering the slurry concentration and outputting a stable carnallite slurry with a suitable concentration.

[0012] Preferably, the initial setup step 101 further includes setting a critical flow rate value for the slurry. The detection step 102 further includes detecting the real-time flow rate value of the slurry. The flow rate comparison step 105 includes comparing the real-time flow rate value with the critical flow rate value. In the water-based mining vessel control steps, when the real-time flow rate value is less than the critical flow rate value, it is determined whether the cutting head is at the minimum depth. If so, a blockage alarm is issued; otherwise, the cutting head is raised.

[0013] When the real-time flow rate is less than the critical flow rate, if the cutting head is too deep, it may be due to a high slurry concentration. Raising the cutting head can reduce the slurry concentration and prevent pump blockage. If the cutting head is too shallow, pump blockage may occur. An alarm should be triggered to notify the staff for handling.

[0014] Preferably, the water sampling vessel control step includes determining whether the water sampling vessel's travel speed has reached its maximum speed. If so, the process jumps to the concentration comparison step 108; if not, the process increases the water sampling vessel's travel speed and then jumps to the concentration comparison step 108.

[0015] Preferably, the water-mining vessel control steps include: determining whether the cutting head is at the maximum depth; if not, increasing the depth of the cutting head and jumping to the concentration comparison step 108; if yes, determining whether the speed of the water-mining vessel has reached the maximum speed; if the maximum speed has been reached, maintaining the speed while outputting a ore shortage alarm; if the maximum speed has not been reached, increasing the travel speed of the water-mining vessel and then jumping to the concentration comparison step 108.

[0016] In this invention, by setting a concentration range for the slurry as the adjustment target, downtime and manual intervention in the mining process can be reduced, improving the stability and reliability of automated mining. Continuously bringing the slurry concentration closer to its maximum value within the concentration range can improve the quality of the slurry. When it is necessary to increase the real-time value of the slurry concentration, the downward-pressing cutting head method is preferred, allowing for more thorough harvesting of carnallite ore in the salt field. Setting a maximum concentration value and a concentration threshold can control blockage from the concentration perspective, while setting a flow rate threshold can prevent blockage from the flow rate perspective.

[0017] A system for intelligent concentration tracking mining using a water-based mining vessel includes a setting module 1, a slurry concentration detection module 24, a storage module 31, a judgment module 32, a track control module 35, a cutting head control module 36, and a harvesting control module 37. The setting module 1 is used to set the initial speed of the water-based mining vessel, the initial depth of the cutting head 42, and the minimum and maximum slurry concentrations, wherein the minimum concentration is less than the maximum concentration. The storage module 31 is used to store the initial speed of the water-based mining vessel, the initial depth of the cutting head 42, and the minimum and maximum slurry concentrations.

[0018] The harvesting control module 37 controls the primary pump and booster pump to harvest slurry containing carnallite. The slurry concentration detection module 24 detects the real-time concentration value of the slurry. The judgment module 32 compares the real-time concentration value with the highest and lowest concentration values. The track control module 35 controls the movement of the water-harvesting vessel; when the real-time concentration value is between the highest and lowest concentration values, the movement speed of the water-harvesting vessel is increased; when the real-time concentration value is less than the lowest concentration value, the movement speed of the water-harvesting vessel is increased; when the real-time concentration value is greater than the highest concentration value, the movement speed of the water-harvesting vessel is decreased. The cutting head control module 36 controls the cutting head 42 to crush and collect carnallite; when the real-time concentration value is less than the lowest concentration value, the cutting head 42 is pressed down to keep the concentration of the slurry collected by the water-harvesting vessel stable.

[0019] Preferably, the setting module 1 is further configured to set a critical concentration value for the slurry, wherein the minimum concentration value < the maximum concentration value < the critical concentration value. The storage module 31 is further configured to store the critical concentration value of the slurry. The judgment module 32 is further configured to compare the real-time concentration value with the critical concentration value. The track control module 35 is further configured to reduce the travel speed of the water extraction vessel to zero when the real-time concentration value is greater than or equal to the critical concentration value. The cutting head control module 36 is further configured to maintain the initial depth of the cutting head 42 when the real-time concentration value is greater than or equal to the critical concentration value.

[0020] Preferably, the system further includes a cutting head depth detection module 21, a slurry flow detection module 23, and an alarm module 33. The setting module 1 is further used to set a critical flow value for the slurry. The storage module 31 is further used to store the critical flow value for the slurry. The cutting head depth detection module 21 is used to detect the depth of the cutting head. The slurry flow detection module 23 is used to detect the real-time flow value of the slurry. The judgment module 32 is further used to compare the real-time flow value with the critical flow value to determine whether the cutting head is at the minimum depth. The cutting head control module 36 is further used to raise the cutting head 42 when the real-time flow value is less than the critical flow value and the cutting head 42 is not at the minimum depth. The alarm module 33 is used to issue a blockage alarm when the real-time flow value is less than the critical flow value and the cutting head 42 is at the minimum depth.

[0021] Preferably, the system further includes a travel speed detection module 22, which is used to detect the travel speed of the water sampling vessel. The judgment module 32 is also used to determine whether the travel speed of the water sampling vessel has reached its maximum speed.

[0022] Preferably, it also includes a cutting head depth detection module 21, which is used to detect the depth of the cutting head. The judgment module 32 is also used to determine whether the cutting head 42 is at the maximum depth. The alarm module 33 is also used to issue a ore shortage alarm when the cutting head is at the maximum depth and the water mining vessel reaches the maximum travel speed. Attached Figure Description

[0023] Figure 1 Schematic diagram of carnallite thickness distribution at the bottom of the salt field;

[0024] Figure 2 Schematic diagram of the water extraction vessel structure;

[0025] Figure 3 A schematic diagram illustrating the steps involved in preparing for water quarrying operations.

[0026] Figure 4 Schematic diagram of the intelligent concentration tracking mining system module structure;

[0027] Figure 5 A schematic diagram illustrating the steps for setting a concentration range;

[0028] Figure 6 A schematic diagram illustrating the steps involved in concentration range control;

[0029] Figure 7 A schematic diagram illustrating the steps of an intelligent concentration tracking mining method. Detailed Implementation

[0030] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Reference numerals indicate components and techniques used in the invention so that the advantages and features of the invention can be more readily understood in a suitable setting. The following description is a specification of the claims of the present invention.

[0031] like Figure 2 As shown, the water-based mining vessel includes a hull 4, a traveling mechanism 41, a harvesting mechanism 42, a conveying mechanism 43, and a control center 44. A hydraulic pump 45 is installed inside the hull 4 to provide hydraulic power to all components. The traveling mechanism 41 consists of tracks that drive the hull forward. The harvesting mechanism 42 is a cutting head. Unlike typical floating vessels, this water-based mining vessel is submerged on the mineral layer at the bottom of the salt pan. It moves by rotating its tracks, and during its movement, the cutting head cuts, crushes, and collects the carnallite at the bottom of the salt pan. The conveying mechanism 42 consists of a primary pump 46 and a booster pump 47. The primary pump 46 is used to harvest the slurry formed after the carnallite is crushed, and the booster pump 47 is used to transport the slurry collected by the primary pump to the workshop. The control center 44 is located inside the hull and is used to control all components.

[0032] Before the water-based mining vessel begins mining operations, the control center performs a self-inspection of all components, such as... Figure 3 As shown, in step 201, the hydraulic pump 45 is started to provide hydraulic power to each component, and then the control of each component is self-checked. Specifically, in step 202, the lifting and lowering of the cutting head 42 is self-checked; in step 203, the primary pump is self-checked; in step 204, the booster pump is self-checked; in step 205, the rotation of the cutting head 42 is self-checked; in step 206, the track movement is self-checked; and in step 207, the navigation channel is self-checked. The control of the water mining vessel includes manual and automatic modes. In step 208, it is determined whether the automatic mining mode has been selected. If so, the automatic mining mode is set; otherwise, the manual mode is set.

[0033] Under the condition that the water quarry vessel meets the operational preparation requirements, the control steps in manual mode are as follows: system power-on, hydraulic system start-up, cutting head submerged in water, primary pump start-up, booster pump start-up, cutting head auger start-up, track walking start-up, and navigation channel control.

[0034] Figure 4 This is a schematic diagram of the module structure of an intelligent concentration tracking mining system, such as... Figure 4As shown, the setting module 1 is used for users to set parameters. Users can set the initial speed of the water-cutting vessel, the initial depth of the cutting head, the minimum concentration, critical concentration and maximum concentration of the slurry, etc. through the setting module 1. They can also set other operating parameters such as channel information and operation time.

[0035] The detection module 2 includes a cutting head depth detection module 21, a travel speed detection module 22, a slurry flow rate detection module 23, and a slurry concentration detection module 24. The cutting head depth detection module 21 detects the extension length of the hydraulic cylinder of the cutting head, thereby detecting the cutting head depth. The travel speed detection module 22 detects the track rotation speed, thereby detecting the travel speed of the water-cooled dredger. The slurry flow rate detection module 23 detects the flow rate of the slurry in the primary pump. The slurry concentration detection module 24 detects the concentration information of the mined slurry.

[0036] The control module 3 includes a storage module 31, a judgment module 32, an alarm module 33, a hydraulic pump control module 34, a track control module 35, a cutting head control module 36, and a harvesting control module 37.

[0037] The storage module 31 is used to store various set parameter information, such as the initial speed of the water-dredging vessel, the initial depth of the cutting head, the minimum and maximum concentration of the slurry, etc. It can also set other operation parameters such as channel information and operation time.

[0038] The judgment module 32 is used to compare the real-time flow rate with the flow rate threshold, compare the real-time concentration with the concentration threshold, compare the real-time concentration with the highest and lowest concentration values, and compare the real-time flow rate with the flow rate threshold; determine whether the water sampling vessel's travel speed has reached the maximum speed; determine whether the cutting head is at the minimum depth; and determine whether the cutting head 42 is at the maximum depth.

[0039] The alarm module 33 is used to issue a blockage alarm, such as "a pump blockage may occur", and an ore shortage alarm, such as "a ore shortage area, change the route".

[0040] The hydraulic pump control module 34 controls the start and stop of the hydraulic pump 45, thereby providing hydraulic power to the various components. The harvesting control module 37 controls the start and stop of the primary pump and the booster pump, which are used to harvest the slurry containing carnallite.

[0041] The track control module 35 is used to control the track rotation speed, thereby controlling the travel speed of the water mining vessel. For example, when the slurry concentration is between the highest and lowest concentration values, the speed of the water mining vessel is increased; when the slurry concentration is less than the lowest concentration value, the speed of the water mining vessel is increased; and when the slurry concentration is greater than the highest concentration value, the speed of the water mining vessel is decreased.

[0042] The cutting head control module 36 is used to control the elongation length of the cutting head, thereby controlling the depth of the cutting head. For example, when the real-time concentration value is less than the minimum concentration value, the cutting head is pressed down, and when the real-time concentration value is greater than or equal to the critical concentration value, the cutting head is lifted or the current depth of the cutting head is maintained.

[0043] Figure 5 It is a schematic diagram of the steps for setting the concentration range. As Figure 5 shown, step 101, that is, the initial setting step, sets the mining concentration range for setting the expected mining concentration, including the minimum concentration value A and the maximum concentration value B. It includes step 1011 of judging whether the mining concentration range value is set. If there is a pre-stored value, it is directly read in. If there is no pre-stored value, it enters step 1012 to set the mining concentration range value.

[0044] According to the empirical data of the carnallite harvesting process and the required range of the pulp concentration by the processing system of the carnallite pulp, the expected minimum concentration value A is set. According to the requirements of the conveying equipment for the pulp concentration, the expected maximum concentration value B is set. For example, the requirement of the processing system for the pulp concentration is that the volume fraction of solids is greater than or equal to 20%. The maximum concentration value of the pulp is set according to the models and types of different conveying pumps such as primary pumps and booster pumps. Under the condition that the power of the conveying pump is fixed, the pulp flow rate is inversely proportional or approximately inversely proportional to the concentration. The requirements of the conveying pumps such as primary pumps and booster pumps and the pipeline for the pulp concentration are that the volume ratio of solids is less than or equal to 50%. Then the setting of A and B is: 20 ≤ A < B ≤ 50, and at the same time B - A ≥ 5.

[0045] Then enter step 1013. When setting the values of the concentration range A and B, a legality judgment needs to be made, that is, for example, whether the difference is greater than 5, whether it is a positive integer greater than 0, etc. After the judgment is legal, enter step 1014 for confirmation and enter step 1015 for storage.

[0046] In the present invention, concentration range control is adopted, that is, the minimum concentration value A and the maximum concentration value B form a concentration range [A, B], which can reduce shutdowns and manual interventions and improve the stability and reliability of automatic mining work.

[0047] Before starting mining, the initial speed of the hydraulic mining ship and the initial depth of the cutting head need to be preset, which can also be set in steps 1016, 1017, and 1018.

[0048] The speed of the water sampling vessel can be expressed as absolute speed or as other parameters related to absolute speed. For example, if the water sampling vessel is tracked, its speed is represented by the frequency f of the frequency converter controlling the track movement. If the frequency range of the frequency converter is 0-50Hz, then the maximum speed can be set to 90% of the frequency converter, i.e., 45Hz, and the minimum speed can be set to 2Hz. The initial speed of the water sampling vessel can be selected within the range of 2 to 45Hz; for example, the initial speed can be set to f = 30.

[0049] The depth of the cutting head can be represented by the extension of the hydraulic cylinder that controls the position of the cutting head. For example, the maximum extension of the hydraulic cylinder is lmax = 965 mm. Based on the specific depth and mineralization conditions of the salt field, the extension l is determined to be greater than 500 mm during normal channel mining operations and greater than 300 mm during edge mining operations. Therefore, the minimum depth of the cutting head can be set to 330 mm, and the maximum depth to be 70% of the maximum extension of the hydraulic cylinder, i.e., 676 mm. The initial depth of the cutting head is selected within the range of 330 to 676 mm. For example, the initial depth can be set to 676 mm.

[0050] In addition, critical concentration and flow rate values ​​need to be set based on the conveying capacity of the pump and pipeline. The critical concentration value should be set to a reasonable value so that if the slurry concentration exceeds the critical value, the pump is likely to become clogged and run dry. Similarly, the critical flow rate value should be set to a reasonable value so that if the slurry flow rate is less than the critical flow rate value, the pump is likely to become clogged and run dry. For example, a critical concentration value of 50 and a critical flow rate value of 500 m³ / h could be set. 3 / h.

[0051] Among them, the lowest concentration value ≤ the highest concentration value ≤ the critical concentration value.

[0052] Figure 6 A schematic diagram of the concentration range control steps is shown, such as... Figure 6 As shown, after the mining concentration range is set, the mining process begins. The water mining vessel is started and moves at the initial speed. The cutting head is at the initial depth, and mining begins.

[0053] Proceed to step 102, the detection step, during the mining process, continuously monitor the real-time concentration value 'a' and the real-time flow rate value 'Q' of the slurry.

[0054] Proceed to step 103, the critical concentration comparison step, and compare the real-time concentration value 'a' with the critical concentration value. For example, if the critical concentration value is 50, when 'a' ≥ 50, it means that the slurry concentration is too high and there is a risk of blockage. The slurry concentration needs to be reduced. Then proceed to step 104, and quickly reduce the walking speed of the water mining vessel's tracks to reduce the slurry concentration. Within 2 to 3 seconds, the walking speed of the water mining vessel is reduced to 0, that is, the frequency of the frequency converter is made to f = 0.

[0055] After the water sampling vessel's speed drops to 0, it can slowly accelerate in increments of 5 Hz to proceed to step 107 for subsequent actions. This is equivalent to initializing the speed to 0 during initialization.

[0056] By setting a concentration threshold and slowing down the speed after stopping the ship, the slurry concentration can be reduced rapidly, reducing the risk of blockage in the pumps and pipelines, and making mining operations smooth and continuous.

[0057] When the real-time concentration value a < 50, the process proceeds to step 105, the flow rate comparison step, comparing the real-time flow rate value Q with the critical flow rate value. For example, taking a critical flow rate value of 500 as an example, when Q < 500, it indicates that there is room for increasing the flow rate. The flow rate can be increased by reducing the slurry concentration. By raising the cutting head, the cutting amount of the bottom carnallite layer in the salt field can be reduced, thereby reducing the slurry concentration and increasing the slurry flow rate. During this process, the process proceeds to step 106, first determining whether the extension of the hydraulic cylinder is greater than 330mm, i.e., lmax = 965mm, 965 * 0.342. If it is greater than 330mm, it indicates that it can still be raised, so the process proceeds to step 1062, raising the cutting head in increments of 30mm, and then returning to step 103 to determine whether the real-time flow rate value a ≥ 50. In this embodiment, the raising amplitude of the cutting head can be set according to actual needs such as the thickness of the ore layer, and is not necessarily limited to 30mm. Figure 6 In step 1062, I = I - 30? indicates that the lifting range of the cutting head can be changed as needed.

[0058] When the cylinder extension is less than 330mm, it indicates that the cutting head is too shallow. Continuing to lift it will cause the cutting head to completely detach from the carnallite layer or detach from the water level in a shallow area. If the flow rate is still low even under low concentration conditions, it indicates that there is a high probability of blockage. At this point, step 1061 will output a blockage alarm such as "Potential pump blockage may occur," and the user will be prompted to stop the machine, check, and handle the blockage problem.

[0059] By setting a flow rate threshold and accordingly raising the cutting head and then reassessing the operation, the risk of blockage in the pump and pipeline can be reduced, making mining operations smooth and continuous.

[0060] When the real-time concentration value a < 50 and the real-time flow rate value Q ≥ 500, it indicates that the risk of blockage in the delivery pump or pipeline is very small. Based on this, the present invention controls the concentration of the slurry.

[0061] The water-cooled quarry is accelerated to increase the volume cut by the cutting head per unit time. If carnallite ore is present within this volume, the real-time concentration of the slurry will increase. The acceleration of the water-cooled quarry is controlled at 5 Hz. Before acceleration, proceed to step 107, first determining whether the water-cooled quarry has reached its maximum speed. For example, if the frequency of the track walking inverter f / 50 <= 0.9, proceed to step 1071 to accelerate the track walking, with each acceleration increment being 5 Hz. If the condition is false, proceed directly to step 108.

[0062] After the water sampling vessel accelerates by 5 Hz, it proceeds to step 108, the concentration comparison step, to determine whether the real-time concentration value is between the highest and lowest concentration values.

[0063] When the real-time concentration value is between the highest and lowest concentration values, to improve efficiency, the slurry concentration can be increased, proceeding to step 1082 to continue accelerating the water extraction vessel at an amplitude of 5 Hz. Then, jump to step 103 to compare the real-time concentration value with the concentration threshold, perform subsequent actions, and determine whether the real-time concentration value is between the highest and lowest concentration values. Through continuous iteration, the real-time concentration value is made to continuously approach the highest concentration value B. Alternatively, jump to step 107 to perform subsequent actions, and through continuous iteration, make the real-time concentration value continuously approach the highest concentration value B.

[0064] When the real-time concentration value is not between the highest and lowest concentration values, it may be higher than the highest concentration value or lower than the lowest concentration value. In this case, proceed to step 1081 to further determine whether the real-time concentration value 'a' is less than the lowest concentration value 'A'. If 'a' < 'A', jump to step 109. To increase the concentration of the slurry, the cutting head can be lowered or the vessel speed can be increased. Both methods increase the volume cut by the cutting head per unit time. When carnallite is present in this volume, the concentration of the slurry can be increased. In this invention, the method of maintaining a constant speed of the water-dredging vessel and adjusting the depth of the cutting head is preferred to increase the concentration of the slurry.

[0065] In step 109, when adjusting the cutting head depth, first determine whether the cutting head has extended to its maximum length, i.e., whether it can continue to be pressed down. The determination method is as follows: proceed to step 1093, and determine the ratio of the current cylinder extension l to the maximum extension lmax. If l / lmax ≥ 0.98, it means that the cylinder has already extended to its maximum length, and the cutting head cannot be pressed down further for adjustment; otherwise, it can be pressed down. At the same time, determine whether the cutting head can still be pressed down to a certain depth. For example, if the pressing depth is set to 30mm, determine whether lmax - l is greater than 30mm. If it is greater than 30mm, it can be pressed down.

[0066] Whether the cutting head can be pressed down can also be determined based on the maximum depth: Proceed to step 1094 to determine if the cutting head is at its maximum depth, i.e., whether the cutting head can still be lowered by a certain margin. For example, if the pressing margin is 30mm and the maximum depth is 676mm, and the difference between the current depth and the maximum depth is greater than 30mm, it indicates that the cutting head can still be pressed down. Then proceed to step 1095 to press the cutting head down by 30mm. In this embodiment, the pressing margin of the cutting head can be set according to actual needs such as the thickness of the ore layer, and is not necessarily limited to 30mm. Figure 6 In step 1095, I = I + 30? indicates that the downward pressure of the cutting head can be changed as needed.

[0067] After the cutting head is pressed down according to the preset pressure range, it returns to the step of judging whether the real-time concentration value is at the highest or lowest concentration value, that is, step 108, and judges again.

[0068] When increasing the real-time concentration of the slurry, the method of pressing down the cutting head is preferred. This allows for a more thorough extraction of carnallite ore from the salt field when the same real-time concentration is achieved, compared to increasing the speed of the water-dredging vessel.

[0069] When the cutting head has reached its maximum extension and can no longer be pressed down, the speed of the water extraction vessel is increased.

[0070] When adjusting the speed of the water sampling vessel, first proceed to step 1091 to check if the vessel has reached its maximum speed and whether it can be accelerated. The determination method is as follows: determine the ratio of the current frequency of the tracked drive inverter to the maximum frequency. If f / 50 ≤ 0.9, it means acceleration is possible; otherwise, acceleration is not possible.

[0071] When the water-based mining vessel can no longer accelerate, it indicates that the cutting head has descended to the maximum depth and the water-based mining vessel has reached the maximum speed. At this time, the real-time concentration value a < A, indicating that it is in a ore-deficient area. Then, proceed to step 1092 and issue an ore-deficient alarm, such as "Short ore area, change course", but still mine at the maximum depth and maximum speed.

[0072] When acceleration is possible, proceed to step 1096 and accelerate at an amplitude of 5 Hz. After each acceleration, return to step 108 to again determine whether the real-time concentration value is at its highest or lowest value.

[0073] When determining whether the real-time concentration value 'a' is less than the minimum concentration value 'A', if a is not less than 'A', that is, a is neither between 'A' and 'B' nor less than 'A', then a > 'B'. If a > 'B', meaning the real-time concentration value is greater than the maximum concentration value, there is a risk of blockage, and the slurry concentration needs to be reduced. This requires reducing the speed of the water-cooled pumping vessel. In this case, the process jumps to step 110 to determine if the actual frequency f-2 of the tracked drive inverter is 0. If the condition is true, it means that the speed of the water-cooled pumping vessel is not at its minimum value, and the speed can be further reduced. Then, the process proceeds to step 1101, reducing the frequency of the water-cooled pumping vessel by 2 Hz, and then returns to step 108 to continue determining the relationship between a and 'B', continuously judging whether the mining concentration 'a' is within the set concentration range, and continuing to perform mining concentration tracking control.

[0074] like Figure 7 As shown, the intelligent concentration tracking mining method for water-cooled mining vessels includes steps 101 to 110. Steps 103 to 104 utilize concentration thresholds to limit the control of the water-cooled mining vessel, preventing blockages caused by excessively high concentrations. Step 105 utilizes flow thresholds to limit the control of the water-cooled mining vessel, preventing pump cavitation caused by excessively low flow rates. Steps 101, 102, and 107 to 110 utilize preset concentration ranges to limit the control of the water-cooled mining vessel, improving its ability to adapt to mining in ore layers of varying thicknesses and enhancing the stability and reliability of automated mining.

[0075] In this invention, by setting a concentration range for the slurry as the adjustment target, downtime and manual intervention in the mining process can be reduced, improving the stability and reliability of automated mining. Continuously bringing the slurry concentration closer to its maximum value within the concentration range can improve the quality of the slurry. When it is necessary to increase the real-time value of the slurry concentration, the downward-pressing cutting head method is preferred, allowing for more thorough harvesting of carnallite ore at the bottom of the salt field. Setting a maximum concentration value and a concentration threshold can control blockage from the concentration perspective, while setting a flow rate threshold can prevent blockage from the flow rate perspective.

[0076] In this invention, the water-cooled slurry vessel can harvest slurry from carnallite layers of uneven thickness. By adjusting the vessel's travel speed and the depth of its cutting head, the concentration of the harvested slurry can be maintained within the required range. This solves the problem that existing water-cooled slurry vessel control methods cannot extract the required slurry concentration under conditions of uneven carnallite layer thickness, and are prone to equipment damage.

[0077] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims.

Claims

1. A method of intelligent concentration tracking mining by a water mining vessel, characterized by, The method comprises: an initial setting step (101) of setting an initial speed of the water mining boat, an initial depth of the cutting head, a lowest concentration of the ore slurry and a highest concentration of the ore slurry, wherein the lowest concentration is lower than the highest concentration; a mining step of moving the water mining boat in the salt lake and crushing and collecting the carnallite by the cutting head to obtain the ore slurry containing the carnallite; a detection step (102) of detecting a real-time concentration of the ore slurry; a concentration comparison step (108) of comparing the real-time concentration with the highest concentration and the lowest concentration; a water mining boat control step of increasing the moving speed of the water mining boat when the real-time concentration is between the highest concentration and the lowest concentration, lowering the cutting head or increasing the moving speed of the water mining boat when the real-time concentration is lower than the lowest concentration, decreasing the moving speed of the water mining boat when the real-time concentration is higher than the highest concentration, and keeping the concentration of the ore slurry obtained by the water mining boat close to the highest concentration in the concentration range.

2. The method according to claim 1, wherein the initial setting step (101) further comprises setting a critical concentration of the ore slurry, wherein the lowest concentration is lower than the highest concentration and the highest concentration is lower than the critical concentration. The method further comprises a critical concentration comparison step (103) of comparing the real-time concentration with the critical concentration. When the real-time concentration is greater than or equal to the critical concentration, the moving speed of the water mining boat is reduced to zero and the current depth of the cutting head is kept in the water mining boat control step.

3. The method according to claim 2, wherein the initial setting step (101) further comprises setting a critical flow of the ore slurry. The detection step (102) further comprises detecting a real-time flow of the ore slurry. The method further comprises a flow comparison step (105) of comparing the real-time flow with the critical flow. When the real-time flow is lower than the critical flow, it is determined whether the cutting head is at the minimum depth in the water mining boat control step, and if yes, a blockage alarm is output, and if no, the cutting head is lifted.

4. The method according to claim 3, wherein the water mining boat control step comprises: determining whether the moving speed of the water mining boat reaches a maximum speed, and if yes, jumping to the concentration comparison step (108), if no, increasing the moving speed of the water mining boat and then jumping to the concentration comparison step (108).

5. The method according to claim 4, wherein the water mining boat control step comprises: determining whether the cutting head is at a maximum depth, if no, increasing the depth of the cutting head and then jumping to the concentration comparison step (108), if yes, determining whether the speed of the water mining boat reaches the maximum speed, if the maximum speed is reached, keeping the speed and outputting a lack of ore alarm, ​ ​ ​ ​ If the maximum speed is not reached, the speed of the water mining ship is increased, and the concentration comparison step (108) is jumped to.

6. A system for intelligent concentration tracking mining by a water mining vessel, characterized by, The system comprises a setting module (1), a slurry concentration detection module (24), a storage module (31), a judgment module (32), a track control module (35), a cutting head control module (36) and a mining control module (37), The setting module (1) is configured to set an initial speed of the water mining ship, an initial depth of the cutting head (42), a minimum concentration of the slurry and a maximum concentration of the slurry, wherein the minimum concentration is less than the maximum concentration. The storage module (31) is configured to store the initial speed of the water mining ship, the initial depth of the cutting head (42), the minimum concentration of the slurry and the maximum concentration of the slurry. The mining control module (37) is configured to control the primary pump and the booster pump to mine the slurry containing carnallite. The slurry concentration detection module (24) is configured to detect a real-time concentration of the slurry. The judgment module (32) is configured to compare the real-time concentration with the maximum concentration and the minimum concentration. The track control module (35) is configured to control the speed of the water mining ship, wherein when the real-time concentration is between the maximum concentration and the minimum concentration, the speed of the water mining ship is increased, when the real-time concentration is less than the minimum concentration, the speed of the water mining ship is increased, and when the real-time concentration is greater than the maximum concentration, the speed of the water mining ship is decreased. The cutting head control module (36) is configured to control the cutting head (42) to crush and collect the carnallite, and when the real-time concentration is less than the minimum concentration, the cutting head (42) is pressed down. The speed of the water mining ship and the depth of the cutting head are adjusted to keep the concentration of the slurry mined by the water mining ship stable.

7. The system according to claim 6, wherein the setting module (1) is further configured to set a concentration threshold of the slurry, wherein the minimum concentration is less than the maximum concentration, and the maximum concentration is less than the concentration threshold. The storage module (31) is further configured to store the concentration threshold of the slurry. The judgment module (32) is further configured to compare the real-time concentration with the concentration threshold. The track control module (35) is further configured to decrease the speed of the water mining ship to zero when the real-time concentration is greater than or equal to the concentration threshold. The cutting head control module (36) is further configured to keep the current depth of the cutting head (42) when the real-time concentration is greater than or equal to the concentration threshold. The system further comprises a cutting head depth detection module (21), a slurry flow detection module (23) and an alarm module (33).

8. The system for intelligent concentration tracking mining of a water mining vessel according to claim 7, wherein, The setting module (1) is further configured to set a flow threshold of the slurry. The storage module (31) is further configured to store the flow threshold of the slurry. The cutting head depth detection module (21) is configured to detect the depth of the cutting head. The slurry flow detection module (23) is configured to detect a real-time flow of the slurry. The judgment module (32) is further configured to compare the real-time flow with the flow threshold to determine whether the cutting head is at the minimum depth. ​ The cutting head control module (36) is further configured to lift the cutting head (42) when the real-time flow value is less than the flow threshold value and the cutting head (42) is not at the minimum depth; The alarm module (33) is configured to issue a blockage alarm when the real-time flow value is less than the flow threshold value and the cutting head (42) is at the minimum depth.

9. The system for intelligent concentration tracking mining of a water mining vessel according to claim 8, wherein, Further comprising a traveling speed detection module (22), The traveling speed detection module (22) is configured to detect the traveling speed of the water sampling ship; The judgment module (32) is further configured to judge whether the traveling speed of the water sampling ship reaches a maximum speed.

10. The system for intelligent concentration tracking mining of a water mining vessel according to claim 9, wherein, Further comprising a cutting head depth detection module (21), The cutting head depth detection module (21) is configured to detect the depth of the cutting head; The judgment module (32) is further configured to judge whether the cutting head (42) is at a maximum depth; The alarm module (33) is further configured to issue a lack of mineral alarm when the cutting head is at the maximum depth and the water sampling ship reaches the maximum traveling speed.

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